www.gusucode.com > rctobsolete 工具箱 matlab源码程序 > rctobsolete/robust/ltrdes2.m
% function [ae,be,ce,de] = ltrdem1(sys,n,Q,R,Xi,Th); % function for the ltr controller design. It is specially written for the % ltrdemo1 simulink program.p % function [ae,be,ce,de] = ltrdem1(sys,n,Q,R,Xi,Th); % Copyright 1988-2004 The MathWorks, Inc. pause(-2); n = length(a); %place sample-hold to the original system [az,bz]=c2d(a,b,0.01); [A,B,C,D]=bilin(az,bz,c,d,-1,'Tustin',0.01); %Solve Kalman filter gain disp('Use LQRC to solve kalman filter gain'); Kf = lqrc(A', C', diagmx(Xi,Th))'; disp('find the frequency range of the singular value by using SIGMA') [sv,w]=sigma(A,B,C,D); %[m,l] = size(w); if l>m, w=w'; end; disp('Choose recovery gain to be 1e+5') q=[1e+5]; disp('Use LTRY to calculate the feedback controller') disp('ignore the up coming ''strike a key .... hit <RET>'' message') [ae,be,ce,de,svl]=ltry(A,B,C,D,Kf,Q,R,q,w); pause(-2); clear q sv A B C D az bz disp('Design finished')